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<li class="navelem"><a class="el" href="dir_c1698e121239b1aba7f6e782e4514e49.html">cFS</a></li><li class="navelem"><a class="el" href="dir_7ee4ce95da95d11e80a01c5101ed8d14.html">apps</a></li><li class="navelem"><a class="el" href="dir_33a0127101db5f0e914b542c5b8ba64e.html">tracking</a></li><li class="navelem"><a class="el" href="dir_d8c1a68aa3baec3213ca2bbe373ac8e5.html">fsw</a></li><li class="navelem"><a class="el" href="dir_bede77add41c473ab5d8a6039b1acdd0.html">src</a></li>  </ul>
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<a href="tracking_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#ifndef ICAROUS_CFS_TRACKING_H</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#define ICAROUS_CFS_TRACKING_H</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;</div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &quot;cfe.h&quot;</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &quot;cfe_error.h&quot;</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &quot;cfe_evs.h&quot;</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &quot;cfe_sb.h&quot;</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &quot;cfe_es.h&quot;</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#include &lt;string.h&gt;</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;</div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="ardupilot__msgids_8h.html">msgids/ardupilot_msgids.h</a>&quot;</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="scheduler__msgids_8h.html">msgids/scheduler_msgids.h</a>&quot;</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="ardupilot__msg_8h.html">msgdef/ardupilot_msg.h</a>&quot;</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="tracking__tbl_8h.html">tracking_tbl.h</a>&quot;</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="preprocessor">#define TRACKING_STARTUP_INF_EID 0</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="preprocessor">#define TRACKING_COMMAND_ERR_EID 1</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="preprocessor">#define TRACKING_RECEIVED_OBJECT_EID 2</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="preprocessor">#define TRACKING_PIPE_DEPTH 100</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="preprocessor">#define TRACKING_PIPE_NAME &quot;TRACKING_PIPE&quot;</span></div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="preprocessor">#define TRACKING_MAJOR_VERSION 1</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="preprocessor">#define TRACKING_MINOR_VERSION 0</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div><div class="line"><a name="l00045"></a><span class="lineno"><a class="line" href="structTrackingAppData__t.html">   45</a></span>&#160;<span class="keyword">typedef</span> <span class="keyword">struct</span>{</div><div class="line"><a name="l00046"></a><span class="lineno"><a class="line" href="structTrackingAppData__t.html#abd00303ccbc54a14d12667a1bdc5295c">   46</a></span>&#160;    CFE_SB_PipeId_t    <a class="code" href="structTrackingAppData__t.html#abd00303ccbc54a14d12667a1bdc5295c">Tracking_Pipe</a>;       </div><div class="line"><a name="l00047"></a><span class="lineno"><a class="line" href="structTrackingAppData__t.html#ad000530099844137d4df68870256b865">   47</a></span>&#160;    CFE_SB_MsgPtr_t    <a class="code" href="structTrackingAppData__t.html#ad000530099844137d4df68870256b865">Tracking_MsgPtr</a>;     </div><div class="line"><a name="l00048"></a><span class="lineno"><a class="line" href="structTrackingAppData__t.html#a5ce76572f8a8828be39eb3e4a7d534d6">   48</a></span>&#160;    CFE_TBL_Handle_t   <a class="code" href="structTrackingAppData__t.html#a5ce76572f8a8828be39eb3e4a7d534d6">Tracking_tblHandle</a>;  </div><div class="line"><a name="l00049"></a><span class="lineno"><a class="line" href="structTrackingAppData__t.html#a06f2385be8d6e0534ffce1e81c127182">   49</a></span>&#160;    <span class="keywordtype">double</span> <a class="code" href="ardupilot_8h.html#a97f6f07d9b99c3e3d789183a9064a7da">position</a>[3];                     </div><div class="line"><a name="l00050"></a><span class="lineno"><a class="line" href="structTrackingAppData__t.html#ab95c271fa9a7781c35afd94c4d9ba3ce">   50</a></span>&#160;    <span class="keywordtype">double</span> velocity[3];                     </div><div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="structTrackingAppData__t.html#aee0561debd3d7d9b26abfa97cba39999">   51</a></span>&#160;    <span class="keywordtype">double</span> objectsPos[10][3];               </div><div class="line"><a name="l00052"></a><span class="lineno"><a class="line" href="structTrackingAppData__t.html#ababaf0145dac67e61df70cf5572ba343">   52</a></span>&#160;    <span class="keywordtype">double</span> objectsVel[10][3];               </div><div class="line"><a name="l00053"></a><span class="lineno"><a class="line" href="structTrackingAppData__t.html#a1a0b8db6f1abe2b59343c031836f2cae">   53</a></span>&#160;    <span class="keywordtype">int</span> objectID[10];                       </div><div class="line"><a name="l00054"></a><span class="lineno"><a class="line" href="structTrackingAppData__t.html#a421dd2db7f0219ca84efcbdfbb4730d0">   54</a></span>&#160;    <span class="keywordtype">int</span> <a class="code" href="structTrackingAppData__t.html#a421dd2db7f0219ca84efcbdfbb4730d0">numObjects</a>;                         </div><div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="structTrackingAppData__t.html#afa16636a06293c5ae92fed188a3211cf">   55</a></span>&#160;    <span class="keywordtype">double</span> trackingVel[10][3];              </div><div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="structTrackingAppData__t.html#a4aee2ec37308683ce9bd460bcfc4a92c">   56</a></span>&#160;    <a class="code" href="structtrackingResolution__t.html">trackingResolution_t</a> <a class="code" href="structTrackingAppData__t.html#a4aee2ec37308683ce9bd460bcfc4a92c">resolution</a>;        </div><div class="line"><a name="l00057"></a><span class="lineno"><a class="line" href="structTrackingAppData__t.html#a4737a4f3fcd7111f07d06172fbe04535">   57</a></span>&#160;    <span class="keywordtype">double</span> propGain[3];                     </div><div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="structTrackingAppData__t.html#a7c5fe1edb52ba91e6d9c7e52eb997327">   58</a></span>&#160;    <span class="keywordtype">int</span> <a class="code" href="structTrackingAppData__t.html#a7c5fe1edb52ba91e6d9c7e52eb997327">trackingID</a>;                         </div><div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="structTrackingAppData__t.html#ac2ec47bba8cd5564267e3792cd1660a7">   59</a></span>&#160;    <span class="keywordtype">double</span> <a class="code" href="structTrackingAppData__t.html#ac2ec47bba8cd5564267e3792cd1660a7">heading</a>;                         </div><div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="structTrackingAppData__t.html#a23109e79e08ff1b6e4e9ff59a1a2bde8">   60</a></span>&#160;    <span class="keywordtype">double</span> <a class="code" href="structTrackingAppData__t.html#a23109e79e08ff1b6e4e9ff59a1a2bde8">distH</a>;                           </div><div class="line"><a name="l00061"></a><span class="lineno"><a class="line" href="structTrackingAppData__t.html#ab86ee211b76b5a2e4a40a1490403a0c9">   61</a></span>&#160;    <span class="keywordtype">double</span> <a class="code" href="structTrackingAppData__t.html#ab86ee211b76b5a2e4a40a1490403a0c9">distV</a>;                           </div><div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="structTrackingAppData__t.html#afef27a5885fa961c979623b2819d2e8a">   62</a></span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="structTrackingAppData__t.html#afef27a5885fa961c979623b2819d2e8a">command</a>;                           </div><div class="line"><a name="l00063"></a><span class="lineno"><a class="line" href="structTrackingAppData__t.html#a5997d32e8f94ba9a585549a36e2a5b31">   63</a></span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="structTrackingAppData__t.html#a5997d32e8f94ba9a585549a36e2a5b31">track</a>;                             </div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;}<a class="code" href="structTrackingAppData__t.html">TrackingAppData_t</a>;</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;<span class="keywordtype">void</span> <a class="code" href="tracking_8h.html#aa439b47b4a67616ee0b71a707b71c80b">TRACKING_AppMain</a>(<span class="keywordtype">void</span>);</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;<span class="keywordtype">void</span> <a class="code" href="tracking_8h.html#ae8cb6421b8b62b2e1850d71b397b4f43">TRACKING_AppInit</a>(<span class="keywordtype">void</span>);</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;<span class="keywordtype">void</span> <a class="code" href="tracking_8h.html#aba1d4724db44c3020a7c6680fd5c4118">TRACKING_AppCleanUp</a>();</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;<span class="keywordtype">void</span> <a class="code" href="tracking_8h.html#ad7ed2beeb1f6930f8dfc2a7e1d111325">TRACKING_ProcessPacket</a>();</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;int32_t <a class="code" href="tracking_8h.html#a26ebeed6fe472fab7f60fffca1040ca5">TrackingTableValidationFunc</a>(<span class="keywordtype">void</span> *TblPtr);</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;<a class="code" href="structTrackingAppData__t.html">TrackingAppData_t</a> trackingAppData;</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;<span class="preprocessor">#endif //ICAROUS_CFS_TRACKING_H</span></div><div class="ttc" id="structTrackingAppData__t_html_a5ce76572f8a8828be39eb3e4a7d534d6"><div class="ttname"><a href="structTrackingAppData__t.html#a5ce76572f8a8828be39eb3e4a7d534d6">TrackingAppData_t::Tracking_tblHandle</a></div><div class="ttdeci">CFE_TBL_Handle_t Tracking_tblHandle</div><div class="ttdoc">Traffic table handle. </div><div class="ttdef"><b>Definition:</b> tracking.h:48</div></div>
<div class="ttc" id="structTrackingAppData__t_html_ac2ec47bba8cd5564267e3792cd1660a7"><div class="ttname"><a href="structTrackingAppData__t.html#ac2ec47bba8cd5564267e3792cd1660a7">TrackingAppData_t::heading</a></div><div class="ttdeci">double heading</div><div class="ttdoc">heading with respect to target from which tracking is done. </div><div class="ttdef"><b>Definition:</b> tracking.h:59</div></div>
<div class="ttc" id="structTrackingAppData__t_html_afef27a5885fa961c979623b2819d2e8a"><div class="ttname"><a href="structTrackingAppData__t.html#afef27a5885fa961c979623b2819d2e8a">TrackingAppData_t::command</a></div><div class="ttdeci">bool command</div><div class="ttdoc">command mode. (true/false) send commands to ardupilot if true. </div><div class="ttdef"><b>Definition:</b> tracking.h:62</div></div>
<div class="ttc" id="structTrackingAppData__t_html_abd00303ccbc54a14d12667a1bdc5295c"><div class="ttname"><a href="structTrackingAppData__t.html#abd00303ccbc54a14d12667a1bdc5295c">TrackingAppData_t::Tracking_Pipe</a></div><div class="ttdeci">CFE_SB_PipeId_t Tracking_Pipe</div><div class="ttdoc">Pipe variable. </div><div class="ttdef"><b>Definition:</b> tracking.h:46</div></div>
<div class="ttc" id="structtrackingResolution__t_html"><div class="ttname"><a href="structtrackingResolution__t.html">trackingResolution_t</a></div><div class="ttdoc">tracking commands </div><div class="ttdef"><b>Definition:</b> tracking_msg.h:23</div></div>
<div class="ttc" id="structTrackingAppData__t_html_a5997d32e8f94ba9a585549a36e2a5b31"><div class="ttname"><a href="structTrackingAppData__t.html#a5997d32e8f94ba9a585549a36e2a5b31">TrackingAppData_t::track</a></div><div class="ttdeci">bool track</div><div class="ttdoc">track (true/false): enable tracking. </div><div class="ttdef"><b>Definition:</b> tracking.h:63</div></div>
<div class="ttc" id="structTrackingAppData__t_html_a23109e79e08ff1b6e4e9ff59a1a2bde8"><div class="ttname"><a href="structTrackingAppData__t.html#a23109e79e08ff1b6e4e9ff59a1a2bde8">TrackingAppData_t::distH</a></div><div class="ttdeci">double distH</div><div class="ttdoc">horizontal separation to maintain from target. </div><div class="ttdef"><b>Definition:</b> tracking.h:60</div></div>
<div class="ttc" id="tracking__tbl_8h_html"><div class="ttname"><a href="tracking__tbl_8h.html">tracking_tbl.h</a></div><div class="ttdoc">tracking application table definition </div></div>
<div class="ttc" id="tracking_8h_html_ae8cb6421b8b62b2e1850d71b397b4f43"><div class="ttname"><a href="tracking_8h.html#ae8cb6421b8b62b2e1850d71b397b4f43">TRACKING_AppInit</a></div><div class="ttdeci">void TRACKING_AppInit(void)</div><div class="ttdef"><b>Definition:</b> tracking.c:42</div></div>
<div class="ttc" id="tracking_8h_html_ad7ed2beeb1f6930f8dfc2a7e1d111325"><div class="ttname"><a href="tracking_8h.html#ad7ed2beeb1f6930f8dfc2a7e1d111325">TRACKING_ProcessPacket</a></div><div class="ttdeci">void TRACKING_ProcessPacket()</div><div class="ttdef"><b>Definition:</b> tracking.c:109</div></div>
<div class="ttc" id="ardupilot__msg_8h_html"><div class="ttname"><a href="ardupilot__msg_8h.html">ardupilot_msg.h</a></div><div class="ttdoc">Ardupilot message definitions. </div></div>
<div class="ttc" id="structTrackingAppData__t_html_a7c5fe1edb52ba91e6d9c7e52eb997327"><div class="ttname"><a href="structTrackingAppData__t.html#a7c5fe1edb52ba91e6d9c7e52eb997327">TrackingAppData_t::trackingID</a></div><div class="ttdeci">int trackingID</div><div class="ttdoc">id of object being tracked. </div><div class="ttdef"><b>Definition:</b> tracking.h:58</div></div>
<div class="ttc" id="tracking_8h_html_aba1d4724db44c3020a7c6680fd5c4118"><div class="ttname"><a href="tracking_8h.html#aba1d4724db44c3020a7c6680fd5c4118">TRACKING_AppCleanUp</a></div><div class="ttdeci">void TRACKING_AppCleanUp()</div><div class="ttdef"><b>Definition:</b> tracking.c:105</div></div>
<div class="ttc" id="ardupilot_8h_html_a97f6f07d9b99c3e3d789183a9064a7da"><div class="ttname"><a href="ardupilot_8h.html#a97f6f07d9b99c3e3d789183a9064a7da">position</a></div><div class="ttdeci">EXTERN position_t position</div><div class="ttdoc">position message </div><div class="ttdef"><b>Definition:</b> ardupilot.h:165</div></div>
<div class="ttc" id="structTrackingAppData__t_html"><div class="ttname"><a href="structTrackingAppData__t.html">TrackingAppData_t</a></div><div class="ttdoc">Structure to hold app data. </div><div class="ttdef"><b>Definition:</b> tracking.h:45</div></div>
<div class="ttc" id="scheduler__msgids_8h_html"><div class="ttname"><a href="scheduler__msgids_8h.html">scheduler_msgids.h</a></div><div class="ttdoc">message topics published by the scheduler </div></div>
<div class="ttc" id="tracking_8h_html_a26ebeed6fe472fab7f60fffca1040ca5"><div class="ttname"><a href="tracking_8h.html#a26ebeed6fe472fab7f60fffca1040ca5">TrackingTableValidationFunc</a></div><div class="ttdeci">int32_t TrackingTableValidationFunc(void *TblPtr)</div><div class="ttdef"><b>Definition:</b> tracking.c:286</div></div>
<div class="ttc" id="structTrackingAppData__t_html_a421dd2db7f0219ca84efcbdfbb4730d0"><div class="ttname"><a href="structTrackingAppData__t.html#a421dd2db7f0219ca84efcbdfbb4730d0">TrackingAppData_t::numObjects</a></div><div class="ttdeci">int numObjects</div><div class="ttdoc">total number of objects added. </div><div class="ttdef"><b>Definition:</b> tracking.h:54</div></div>
<div class="ttc" id="structTrackingAppData__t_html_a4aee2ec37308683ce9bd460bcfc4a92c"><div class="ttname"><a href="structTrackingAppData__t.html#a4aee2ec37308683ce9bd460bcfc4a92c">TrackingAppData_t::resolution</a></div><div class="ttdeci">trackingResolution_t resolution</div><div class="ttdoc">computed tracking resolution. </div><div class="ttdef"><b>Definition:</b> tracking.h:56</div></div>
<div class="ttc" id="tracking_8h_html_aa439b47b4a67616ee0b71a707b71c80b"><div class="ttname"><a href="tracking_8h.html#aa439b47b4a67616ee0b71a707b71c80b">TRACKING_AppMain</a></div><div class="ttdeci">void TRACKING_AppMain(void)</div><div class="ttdoc">Event ID definitions. </div><div class="ttdef"><b>Definition:</b> tracking.c:21</div></div>
<div class="ttc" id="ardupilot__msgids_8h_html"><div class="ttname"><a href="ardupilot__msgids_8h.html">ardupilot_msgids.h</a></div><div class="ttdoc">Message ID definition of ardupilot app messages. </div></div>
<div class="ttc" id="structTrackingAppData__t_html_ad000530099844137d4df68870256b865"><div class="ttname"><a href="structTrackingAppData__t.html#ad000530099844137d4df68870256b865">TrackingAppData_t::Tracking_MsgPtr</a></div><div class="ttdeci">CFE_SB_MsgPtr_t Tracking_MsgPtr</div><div class="ttdoc">Msg pointer to SB message. </div><div class="ttdef"><b>Definition:</b> tracking.h:47</div></div>
<div class="ttc" id="structTrackingAppData__t_html_ab86ee211b76b5a2e4a40a1490403a0c9"><div class="ttname"><a href="structTrackingAppData__t.html#ab86ee211b76b5a2e4a40a1490403a0c9">TrackingAppData_t::distV</a></div><div class="ttdeci">double distV</div><div class="ttdoc">vertical separation to maintain from target. </div><div class="ttdef"><b>Definition:</b> tracking.h:61</div></div>
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